Kinematic Dexterity of Robotic Mechanisms

@article{Park1994KinematicDO,
  title={Kinematic Dexterity of Robotic Mechanisms},
  author={Frank Chongwoo Park and Roger W. Brockett},
  journal={I. J. Robotics Res.},
  year={1994},
  volume={13},
  pages={1-15}
}
In this article we develop a mathematical theory for optimizing the kinematic dexterity of robotic mechanisms and obtain a collection of analytical tools for robot design. The performance criteria we consider are workspace volume and dexterity; by the latter we mean the ability to move and apply forces in arbitrary directions as easily as possible. Clearly, dexterity and workspace volume are intrinsic to a mechanism, so that any mathematical formulation of these properties must necessarily be… CONTINUE READING
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References

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Showing 1-10 of 19 references

On the optimal kinematic design of spherical and spatial mechanisms

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The optimal kinematic design of mechanisms

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1 Excerpt

Harmonic maps and the optimal design of mechanisms

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Geometric analysis of compliant mechanisms

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1 Excerpt

Harmonic Maps with Symmetry, Harmonic Morphisms and Deformation of Metrics

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1 Excerpt

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